A Simple and Efficient Path Following Algorithm for Wheeled Mobile Robots

  • Goran Huskić
  • Sebastian Buck
  • Andreas Zell
Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 531)


A heuristic path following algorithm for wheeled mobile robots is presented. This approach is based on the orthogonal projection to the path and exponential functions for lateral and longitudinal control. It allows smooth and stable navigation in dynamic and cluttered environments, and does not depend on the robot’s kinematics. The results are experimentally demonstrated using three different kinematic configurations: omnidirectional, Ackermann- and two-steering.


Mobile robots Path following Control Kinematics 



Goran Huskić would like to thank the German Academic Exchange Service (DAAD) for his Ph.D. scholarship.


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  1. 1.Chair of Cognitive Systems, Computer Science DepartmentUniversity of TübingenTübingenGermany

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